WO2017067241A1 - Système et procédé de commande de champ de température de soudage - Google Patents

Système et procédé de commande de champ de température de soudage Download PDF

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Publication number
WO2017067241A1
WO2017067241A1 PCT/CN2016/089586 CN2016089586W WO2017067241A1 WO 2017067241 A1 WO2017067241 A1 WO 2017067241A1 CN 2016089586 W CN2016089586 W CN 2016089586W WO 2017067241 A1 WO2017067241 A1 WO 2017067241A1
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WIPO (PCT)
Prior art keywords
welding
temperature
point
isotherm
temperature field
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PCT/CN2016/089586
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English (en)
Chinese (zh)
Inventor
刘雷
乔红超
李茂程
刘冬菊
唐伟东
谯永鹏
李文明
Original Assignee
沈阳富创精密设备有限公司
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Priority to KR1020187003278A priority Critical patent/KR102133657B1/ko
Publication of WO2017067241A1 publication Critical patent/WO2017067241A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G5/00—Weighing apparatus wherein the balancing is effected by fluid action
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means
    • G05D23/27—Control of temperature characterised by the use of electric means with sensing element responsive to radiation

Definitions

  • the invention relates to the technical field of welding quality control, in particular to a welding temperature field control system and method.
  • the welding process has been studied from macroscopic process control to microscopic quality control of welding.
  • the main difficulty of microscopic quality control is to obtain sensing technology that characterizes these microscopic qualities.
  • the distribution of the welding temperature field determines the thermal cycle of the welding, which also determines the microstructure of the welding and its changes, determines the macroscopic performance of the weld and its heat affected zone, so the real-time detection of the welding temperature field and the extraction of thermal cycling parameters It is of great significance to achieve micro-quality control of welding.
  • the welding temperature field is the basic characterization of the welding heat process. Its distribution directly affects the penetration depth and melting width of the weld. Therefore, it can be said that the welding temperature field is closely related to the welding quality. Through the real-time detection and control of the welding temperature field, the welding of the weld is controlled, and the welding quality is an important research content of the current welding process automation.
  • the welding process only relies on the stability of the welding specification to ensure the consistency of the weld penetration is very difficult, and the technical problem to be solved by the present invention is to provide a fast response speed, capable of welding the temperature field and welding.
  • Welding temperature field control system and method for real-time detection and control of quality are very difficult.
  • the technical solution adopted by the present invention is:
  • the welding temperature field control system of the invention comprises a welding machine system, a molten pool temperature measuring unit and a Dalin controller, wherein the output end of the Dalin controller is connected to the welding power source of the welding machine system, and the molten pool temperature measuring unit detects the molten pool data. Send to the acquisition signal input of the Dalin controller.
  • the molten pool temperature measuring unit comprises a CCD camera, a data acquisition card and an analysis display device, wherein the CCD camera is mounted on the back of the soldering surface to take a picture of the weld pool image input to the analysis display device, and the data acquisition card sends the collected data to the analysis. Display device.
  • weld and heat effects are divided into three welding zones of high temperature, medium temperature and low temperature, corresponding to different sampling exposure times;
  • the molten pool temperature measuring unit obtains an image of the heat radiation field of the two bands on the back side of the welding area by the CCD camera;
  • the steps for processing the gray level at the same position are:
  • the acquired image is represented by 3 bytes, and each byte corresponds to the brightness of the R, G, and B components.
  • One pixel of the converted black and white image represents the gray value of the point by one byte, and the conversion relationship is as follows:
  • Gray(i,j) 0.11R(i,j)+0.59G(i,j)+0.3B(i,j)
  • Gray(i, j) is the gray value of the converted black and white image at the (i, j) point.
  • the weld and heat effects are divided into three regions: high temperature, medium temperature and low temperature, which are:
  • the exposure times of the high temperature, medium temperature and low temperature regions are: 1.5 ⁇ 0.3ms, 300 ⁇ 60ms, 50 ⁇ 10ms.
  • the point is the edge point of the isotherm.
  • the search is reversed until the first point that does not satisfy the required point, and the last point that is retrieved that satisfies the requirement is the new edge point.
  • the invention obtains welding thermal cycle parameters for real-time detection of welding temperature field in welding process, realizes closed-loop control of weld isotherm and heat-affected zone back isotherm width; for welding process is hysteresis system, choose melting point based on Dalin algorithm or The isotherm width close to the melting point temperature is controlled to achieve the purpose of controlling penetration.
  • the invention adopts the Dalin algorithm to control the welding power source, eliminates the residual error in the automatic welding object, performs the lag compensation on the welding object, has a fast response speed, can detect and control the welding temperature field and the welding quality in real time, and improves the working efficiency. And quality.
  • the method of the invention obtains the thermal cycle parameter of the welding area from the temperature field of the molten pool detected in real time, and provides a basis for the welding quality control; for the welding process is a lag system, the Dalin algorithm is used to control and improve Production efficiency, cost saving, and fast, accurate and convenient detection and quality control.
  • Figure 1 is a flow chart of the isotherm width control system of the present invention
  • FIG. 2 is a block diagram of a welding temperature field measuring unit of the present invention
  • Figure 3 is a block diagram of a first-order delay single-loop inertia system
  • FIG. 5 is a comparison diagram of a simulation curve of a disturbance-free step response according to the present invention.
  • FIG. 6 is a comparison diagram of a simulated step response simulation curve of the present invention.
  • FIG. 7 is a block diagram of the controller operation program.
  • the welding temperature field control system of the present invention comprises a welding machine system, a molten pool temperature measuring unit and a Dalin controller, wherein the output end of the Dalin controller is connected to the welding power supply of the welding machine system, and the molten pool temperature is measured.
  • the unit sends the detected molten pool data to the acquisition signal input of the Dalin controller.
  • the molten pool temperature measuring unit includes a CCD camera, a data acquisition card, and an analysis display device, wherein the CCD camera is mounted on the back of the soldering surface to take a picture of the weld pool image input to the analysis display device, and the data acquisition card will collect the image. The data is sent to the analysis display device.
  • the welding machine system comprises a welding torch, a welding power source and a wire feeding machine;
  • the molten pool temperature measuring system comprises a CCD camera, a data acquisition card and an analysis display system;
  • the output end of the Dalin controller is connected with a welding power source to adjust the welding current.
  • the invention adopts the Dalin algorithm to control the welding power source, eliminates the residual error in the automatic welding object, and performs lag compensation on the welding object.
  • weld and heat effects are divided into three welding zones of high temperature, medium temperature and low temperature, corresponding to different sampling exposure times;
  • the molten pool temperature measuring unit obtains an image of the heat radiation field of the two bands on the back side of the welding area by the CCD camera;
  • the weld seam and the heat influence are divided into three regions of high temperature, medium temperature and low temperature, respectively: assuming that the melting point of the metal to be welded is A ° C, the detection temperature range (A-200) ° C ⁇ (A + 200 Between °C, low temperature zone: (A-200) °C ⁇ (A-50) °C, medium temperature zone: (A-50) °C ⁇ (A + 50) ° C, high temperature zone: (A + 50) ° C ⁇ ( A+200) °C; exposure times of three regions of high temperature, medium temperature and low temperature are: 1.5 ⁇ 0.3ms, 300 ⁇ 60ms, 50 ⁇ 10ms.
  • the collected image is filtered, because different gray values have a corresponding relationship with temperature, and the gray level of the same position is compared, and the entire welding temperature field can be obtained by using the correspondence between the gray value and the temperature. Distribution.
  • the acquired image is represented by 3 bytes, and each byte corresponds to the brightness of the R, G, and B components.
  • One pixel of the converted black and white image represents the gray value of the point by one byte, and the conversion relationship is as follows:
  • Gray(i,j) 0.11R(i,j)+0.59G(i,j)+0.3B(i,j)
  • Gray(i, j) is the gray value of the converted black and white image at the (i, j) point.
  • the point is the edge point of the isotherm.
  • the search is reversed until the first point that does not satisfy the required point, and the last point that is retrieved that satisfies the requirement is the new edge point.
  • the invention selects the input quantity of the control object as the welding current, and the output quantity is the welding temperature field.
  • the object is approximated as a first-order delay single-loop inertial system, as shown in Figure 3:
  • s is a Laplacian operator
  • ⁇ is a pure lag time constant
  • K is a proportional coefficient
  • T D is the inertia time constant of the controlled object
  • G C (s) is the transfer function of the controlled object
  • G P (Z) is the Z transform of the transfer function of the controlled object
  • G C (Z) is the digital controller
  • Y (Z) is the output signal
  • R (Z) is the input signal.
  • the plasma welding method is used.
  • the response curve of the system object is shown in Fig. 4.
  • the welding current in Fig. 4 is controlled by the analysis display system to control the welding current from 60A step to 10 70A, the welding current changes back to 60A at 20s.
  • the temperature field 1200°C isotherm width changes with the response of current time.
  • the step response of the first-order inertia delay system is the exponential rise curve of the delay, which can be expressed by the following formula:
  • the controlled object transfer function can be derived according to the method of deriving the transfer function in the automatic control theory (formula (1)), which will not be described here.
  • the transfer function in the automatic control theory (formula (1)), which will not be described here.
  • the expected closed-loop control system transfer function is:
  • Figure 5 and Figure 6 are the simulation comparison diagrams of the system step response and the step response of the traditional PID algorithm and the Dalin algorithm when there is no disturbance, respectively. It can be seen from the figure that the dynamic response of the Dalin algorithm is slightly faster than the traditional PID algorithm. Before the system is stable, the Dalin algorithm has no overshoot. When the disturbance is added, the Dalin algorithm overshoot is smaller than the traditional PID algorithm.
  • num(Z) is the G C (Z) molecular coefficient and den(Z) is the G C (Z) denominator coefficient, ie:
  • the program operation is performed as shown in the controller operation flowchart of FIG. 7, firstly, the storage unit and the coefficient are initialized, and then the image information is collected and processed, and the Dalin algorithm calculates the output and outputs it to the welding power source by the controller. Finally repeat this process.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Radiation Pyrometers (AREA)
  • Control Of Temperature (AREA)

Abstract

La présente invention concerne un système de commande de champ de température de soudage. Une extrémité de sortie d'un contrôleur Dahlin est connectée à une alimentation électrique de soudage d'un système de machine de soudage et une unité de mesure de température de groupe de soudage transmet des données de groupe de soudage détectées à une extrémité d'entrée de signal collecté du contrôleur Dahlin. L'invention concerne aussi un procédé de commande de champ de température de soudage. Le procédé consiste à : diviser un cordon de soudure et une zone d'effet de chaleur en trois zones de soudage, à savoir une zone de soudage à haute température, une zone de soudage à moyenne température et une zone de soudage à basse température ; acquérir, par une unité de mesure de température de groupe de soudage, des images de champs de rayonnement de chaleur de deux bandes d'ondes sur les côtés arrière des zones de soudage au moyen d'une caméra CCD ; effectuer un filtrage sur les images recueillies des champs de rayonnement de chaleur afin d'obtenir une correspondance entre des valeurs d'échelle de gris et des températures ; obtenir la distribution d'un champ de température de soudage entier en fonction de la correspondance ; calculer la largeur d'un isotherme ; et délivrer en sortie, par un contrôleur Dahlin, une valeur de commande à une alimentation électrique de soudage d'un système de machine de soudage. Au moyen du procédé et du système de commande de champ de température de soudage, une commande en boucle fermée sur la largeur de l'isotherme du côté arrière d'un cordon de soudure et une zone d'effet de chaleur est mise en œuvre, des erreurs résiduelles dans des objets de soudage automatique sont éliminées, l'efficacité de production est améliorée, les coûts sont réduits et un contrôle qualité et une détection rapides, précis et pratiques sont mis en œuvre.
PCT/CN2016/089586 2015-10-20 2016-07-11 Système et procédé de commande de champ de température de soudage WO2017067241A1 (fr)

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CN110889213A (zh) * 2019-11-18 2020-03-17 重庆理工大学 一种基于切片分割加载体的热源焊接模拟方法
CN111460609A (zh) * 2020-02-24 2020-07-28 中国科学院光电研究院 零部件受热面上关键温度点的提取方法及装置
CN114571037A (zh) * 2022-03-28 2022-06-03 深圳市爱达思技术有限公司 焊接过程控制方法及装置
CN116060720A (zh) * 2022-12-15 2023-05-05 东莞顺为半导体有限公司 一种电感新型焊接工艺

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CN110889213A (zh) * 2019-11-18 2020-03-17 重庆理工大学 一种基于切片分割加载体的热源焊接模拟方法
CN111460609A (zh) * 2020-02-24 2020-07-28 中国科学院光电研究院 零部件受热面上关键温度点的提取方法及装置
CN111460609B (zh) * 2020-02-24 2024-05-07 中国科学院光电研究院 零部件受热面上关键温度点的提取方法及装置
CN114571037A (zh) * 2022-03-28 2022-06-03 深圳市爱达思技术有限公司 焊接过程控制方法及装置
CN114571037B (zh) * 2022-03-28 2024-03-19 深圳市爱达思技术有限公司 焊接过程控制方法及装置
CN116060720A (zh) * 2022-12-15 2023-05-05 东莞顺为半导体有限公司 一种电感新型焊接工艺
CN116060720B (zh) * 2022-12-15 2023-11-10 东莞顺为半导体有限公司 一种电感新型焊接工艺

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